A rose and chai-flavoured ice cream designed by Sally Reynolds has won Bompas & Parr's ice cream competition, which took place during this year's London Design Festival.

Designed by New York-based Reynolds, the winning ice cream takes the form of a woman's breast, and is informed by classical sculptures.

Aptly named Homage to the Breast, the ice cream was intended as a celebration of the beauty of the female figure. As the designer explains, it "plays on the power of the currency of women in the days of royalty."

The simple breast-shaped gelato design was developed from a more complex model that Reynolds sculpted in virtual reality.

The ice cream was made in a Rose Masala Chai flavour – consisting of vanilla gelato flavoured with rose syrup and chai spice.

Food design studio Bompas & Parr's competition asked architects and designers to come up with ideas for a three-dimensional ice cream mould based on those used by royalty in the 18th century in time for London Design Festival.

The winning design, and two runners up, were chosen by a panel of 11 judges from the creative sector, including Dezeen's co-founder and editor-in-chief Marcus Fairs.

Second place was awarded to Estela Gless for her cherry-flavoured dondurma – a Turkish ice cream with an elastic texture – lolly inspired by the bright and colourful Mexican iced treat Paleta.

Called Mouth Toys, the design aims to reflect the physical and emotional sensations experienced when eating ice cream.

In third place was Milan-based designer Michele Menescardi with his Bubble-icious ice cream, designed to replicate a bar of soap. The pineapple and basil-flavoured lolly took inspiration from fruit salads, as well as the ancient Arabic tradition of sweets and culinary art.

"Although gimmicky and paradoxical, it looks good, the flavours are interesting and I like the counter-intuitiveness of putting something that looks like a bar of soap in your mouth," said Fairs.

Each of the frozen creations were available to eat for one day only on 20 September at Scoop – an exhibition put on by the British Museum of Food, which is running until 30 September at Gasholder 11, London.

The competition was curated to celebrate the city's annual design festival, which took place this year from 15 to 23 September.

All profits from the sales will be donated to Maggie's Centres, which support people living with cancer, and their family and friends.

The "world's first non-melting" ice lolly designed by Bompas & Parr was also displayed at the Scoop exhibition for one day only on 22 August. The non-melting lolly was inspired by a frozen composite material pioneered during the second world war.